东北大学学报(自然科学版) ›› 2025, Vol. 46 ›› Issue (3): 1-11.DOI: 10.12068/j.issn.1005-3026.2025.20239039
• 信息与控制 • 下一篇
裴玉龙1, 翟双柱2
收稿日期:
2023-08-02
出版日期:
2025-03-15
发布日期:
2025-05-29
作者简介:
裴玉龙(1961—),男,黑龙江桦川人,东北林业大学教授,博士生导师.
Yu-long PEI1, Shuang-zhu ZHAI2
Received:
2023-08-02
Online:
2025-03-15
Published:
2025-05-29
摘要:
针对自动驾驶车辆在冰雪路面易失稳的问题,提出改进的快速扩展随机树(RRT)路径规划算法.首先,建立冰雪路面车辆动力学模型,引入路面附着系数;然后,采用结合车头指向及转向角的全局目标偏向性采样,结合避撞检测与速度-附着系数下的最大曲率约束,改善传统RRT算法问题;最后,使用双五次多项式平滑路径,满足稳定性、制动器约束及舒适性.通过MATLAB-Simulink与CarSim联合仿真,比较改进RRT算法与传统算法在多场景条件下的性能.实验表明,改进RRT算法显著提升路径平滑度,降低曲率突变,用时短、成功率高,且在冰雪路面行驶时稳定性良好.
中图分类号:
裴玉龙, 翟双柱. 冰雪路面条件下多场景自动驾驶车辆主动避障路径规划[J]. 东北大学学报(自然科学版), 2025, 46(3): 1-11.
Yu-long PEI, Shuang-zhu ZHAI. Active Obstacle Avoidance Path Planning for Multi-scenario Autonomous Vehicles Under Icy and Snowy Road Conditions[J]. Journal of Northeastern University(Natural Science), 2025, 46(3): 1-11.
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